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336 lines
14 KiB
C
336 lines
14 KiB
C
/*
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FreeRTOS V7.1.0 - Copyright (C) 2011 Real Time Engineers Ltd.
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***************************************************************************
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* *
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* FreeRTOS tutorial books are available in pdf and paperback. *
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* Complete, revised, and edited pdf reference manuals are also *
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* available. *
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* *
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* Purchasing FreeRTOS documentation will not only help you, by *
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* ensuring you get running as quickly as possible and with an *
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* in-depth knowledge of how to use FreeRTOS, it will also help *
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* the FreeRTOS project to continue with its mission of providing *
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* professional grade, cross platform, de facto standard solutions *
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* for microcontrollers - completely free of charge! *
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* *
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* >>> See http://www.FreeRTOS.org/Documentation for details. <<< *
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* *
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* Thank you for using FreeRTOS, and thank you for your support! *
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* *
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***************************************************************************
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This file is part of the FreeRTOS distribution.
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FreeRTOS is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License (version 2) as published by the
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Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
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>>>NOTE<<< The modification to the GPL is included to allow you to
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distribute a combined work that includes FreeRTOS without being obliged to
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provide the source code for proprietary components outside of the FreeRTOS
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kernel. FreeRTOS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
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more details. You should have received a copy of the GNU General Public
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License and the FreeRTOS license exception along with FreeRTOS; if not it
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can be viewed here: http://www.freertos.org/a00114.html and also obtained
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by writing to Richard Barry, contact details for whom are available on the
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FreeRTOS WEB site.
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1 tab == 4 spaces!
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http://www.FreeRTOS.org - Documentation, latest information, license and
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contact details.
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http://www.SafeRTOS.com - A version that is certified for use in safety
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critical systems.
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http://www.OpenRTOS.com - Commercial support, development, porting,
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licensing and training services.
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*/
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/******************************************************************************
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* NOTE 1: This project provides two demo applications. A simple blinky style
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* project, and a more comprehensive test and demo application. The
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
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* between the two. See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
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* in main.c. This file implements the comprehensive test and demo version.
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*
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* NOTE 2: This file only contains the source code that is specific to the
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* full demo. Generic functions, such FreeRTOS hook functions, and functions
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* required to configure the hardware, are defined in main.c.
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******************************************************************************
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*
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* main_full() creates a set of standard demo tasks, some application specific
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* tasks, and four timers. It then starts the scheduler. The web documentation
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* provides more details of the standard demo application tasks, which provide
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* no particular functionality, but do provide a good example of how to use the
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* FreeRTOS API.
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*
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* In addition to the standard demo tasks, the following tasks and timer are
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* defined and/or created within this file:
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*
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* "Reg test" tasks - These fill the registers with known values, then check
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* that each register maintains its expected value for the lifetime of the
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* task. Each task uses a different set of values. The reg test tasks execute
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* with a very low priority, so get preempted very frequently. A register
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* containing an unexpected value is indicative of an error in the context
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* switching mechanism.
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*
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* "Flash timers" - A software timer callback function is defined that does
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* nothing but toggle an LED. Three software timers are created that each
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* use the same callback function, but each toggles a different LED at a
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* different frequency. One software timer uses LED1, another LED2 and the
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* third LED3.
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*
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* "Check" software timer - The check timer period is initially set to three
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* seconds. Its callback function checks that all the standard demo tasks, and
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* the register check tasks, are not only still executing, but are executing
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* without reporting any errors. If the check timer callback discovers that a
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* task has either stalled, or reported an error, then it changes the period of
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* the check timer from the initial three seconds, to just 200ms. The callback
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* function also toggles LED 4 each time it is called. This provides a visual
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* indication of the system status: If the LED toggles every three seconds,
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* then no issues have been discovered. If the LED toggles every 200ms, then
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* an issue has been discovered with at least one task.
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*/
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/* Kernel includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "queue.h"
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#include "timers.h"
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/* Common demo includes. */
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#include "blocktim.h"
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#include "countsem.h"
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#include "recmutex.h"
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#include "ParTest.h"
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#include "dynamic.h"
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/* Hardware includes. */
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#include "stm320518_eval.h"
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/* The period after which the check timer will expire provided no errors have
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been reported by any of the standard demo tasks. ms are converted to the
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equivalent in ticks using the portTICK_RATE_MS constant. */
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#define mainCHECK_TIMER_PERIOD_MS ( 3000UL / portTICK_RATE_MS )
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/* The period at which the check timer will expire if an error has been
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reported in one of the standard demo tasks. ms are converted to the equivalent
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in ticks using the portTICK_RATE_MS constant. */
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#define mainERROR_CHECK_TIMER_PERIOD_MS ( 200UL / portTICK_RATE_MS )
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/* A block time of zero simply means "don't block". */
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#define mainDONT_BLOCK ( 0UL )
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/* The base toggle rate used by the flash timers. Each toggle rate is a
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multiple of this. */
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#define mainFLASH_TIMER_BASE_RATE ( 200UL / portTICK_RATE_MS )
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/* The LED toggle by the check timer. */
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#define mainCHECK_LED ( 3 )
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/*-----------------------------------------------------------*/
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/*
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* Register check tasks, as described at the top of this file. The nature of
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* these files necessitates that they are written in an assembly.
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*/
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extern void vRegTest1Task( void *pvParameters );
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extern void vRegTest2Task( void *pvParameters );
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/*
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* The hardware only has a single LED. Simply toggle it.
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*/
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extern void vMainToggleLED( void );
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/*
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* The check timer callback function, as described at the top of this file.
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*/
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static void prvCheckTimerCallback( xTimerHandle xTimer );
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/*
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* The flash timer callback function, as described at the top of this file.
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* This callback function is assigned to three separate software timers.
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*/
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static void prvFlashTimerCallback( xTimerHandle xTimer );
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/*
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* Called by main() to create the comprehensive test/demo application if
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* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not set to 1.
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*/
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void main_full( void );
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/*-----------------------------------------------------------*/
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/* The following two variables are used to communicate the status of the
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register check tasks to the check software timer. If the variables keep
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incrementing, then the register check tasks has not discovered any errors. If
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a variable stops incrementing, then an error has been found. */
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volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
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/*-----------------------------------------------------------*/
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void main_full( void )
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{
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xTimerHandle xTimer = NULL;
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unsigned long ulTimer;
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const unsigned long ulTimersToCreate = 3L;
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/* The register test tasks are asm functions that don't use a stack. The
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stack allocated just has to be large enough to hold the task context, and
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for the additional required for the stack overflow checking to work (if
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configured). */
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const size_t xRegTestStackSize = 25U;
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/* Create the standard demo tasks */
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vCreateBlockTimeTasks();
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vStartCountingSemaphoreTasks();
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vStartRecursiveMutexTasks();
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vStartDynamicPriorityTasks();
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/* Create the register test tasks as described at the top of this file.
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These are naked functions that don't use any stack. A stack still has
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to be allocated to hold the task context. */
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xTaskCreate( vRegTest1Task, /* Function that implements the task. */
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( signed char * ) "Reg1", /* Text name of the task. */
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xRegTestStackSize, /* Stack allocated to the task. */
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NULL, /* The task parameter is not used. */
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tskIDLE_PRIORITY, /* The priority to assign to the task. */
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NULL ); /* Don't receive a handle back, it is not needed. */
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xTaskCreate( vRegTest2Task, /* Function that implements the task. */
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( signed char * ) "Reg2", /* Text name of the task. */
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xRegTestStackSize, /* Stack allocated to the task. */
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NULL, /* The task parameter is not used. */
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tskIDLE_PRIORITY, /* The priority to assign to the task. */
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NULL ); /* Don't receive a handle back, it is not needed. */
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/* Create the three flash timers. */
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for( ulTimer = 0UL; ulTimer < ulTimersToCreate; ulTimer++ )
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{
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xTimer = xTimerCreate( ( const signed char * ) "FlashTimer", /* A text name, purely to help debugging. */
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( mainFLASH_TIMER_BASE_RATE * ( ulTimer + 1UL ) ), /* The timer period, in this case 3000ms (3s). */
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pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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( void * ) ulTimer, /* The ID is used to hold the number of the LED that will be flashed. */
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prvFlashTimerCallback /* The callback function that inspects the status of all the other tasks. */
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);
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if( xTimer != NULL )
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{
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xTimerStart( xTimer, mainDONT_BLOCK );
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}
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}
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/* Create the software timer that performs the 'check' functionality,
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as described at the top of this file. */
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xTimer = xTimerCreate( ( const signed char * ) "CheckTimer",/* A text name, purely to help debugging. */
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( mainCHECK_TIMER_PERIOD_MS ), /* The timer period, in this case 3000ms (3s). */
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pdTRUE, /* This is an auto-reload timer, so xAutoReload is set to pdTRUE. */
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( void * ) 0, /* The ID is not used, so can be set to anything. */
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prvCheckTimerCallback /* The callback function that inspects the status of all the other tasks. */
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);
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/* If the software timer was created successfully, start it. It won't
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actually start running until the scheduler starts. A block time of
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zero is used in this call, although any value could be used as the block
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time will be ignored because the scheduler has not started yet. */
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if( xTimer != NULL )
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{
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xTimerStart( xTimer, mainDONT_BLOCK );
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}
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/* Start the kernel. From here on, only tasks and interrupts will run. */
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vTaskStartScheduler();
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/* If all is well, the scheduler will now be running, and the following
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line will never be reached. If the following line does execute, then there
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was insufficient FreeRTOS heap memory available for the idle and/or timer
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tasks to be created. See the memory management section on the FreeRTOS web
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site, or the FreeRTOS tutorial books for more details. */
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for( ;; );
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}
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/*-----------------------------------------------------------*/
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/* See the description at the top of this file. */
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static void prvCheckTimerCallback( xTimerHandle xTimer )
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{
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static long lChangedTimerPeriodAlready = pdFALSE;
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static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
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unsigned long ulErrorFound = pdFALSE;
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/* Check all the demo and test tasks to ensure that they are all still
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running, and that none have detected an error. */
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if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
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{
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ulErrorFound |= ( 0x01UL << 0UL );
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}
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if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
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{
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ulErrorFound |= ( 0x01UL << 1UL );
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}
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if( xAreCountingSemaphoreTasksStillRunning() != pdPASS )
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{
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ulErrorFound |= ( 0x01UL << 2UL );
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}
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if( xAreRecursiveMutexTasksStillRunning() != pdPASS )
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{
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ulErrorFound |= ( 0x01UL << 3UL );
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}
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/* Check that the register test 1 task is still running. */
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if( ulLastRegTest1Value == ulRegTest1LoopCounter )
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{
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ulErrorFound |= ( 0x01UL << 4UL );
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}
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ulLastRegTest1Value = ulRegTest1LoopCounter;
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/* Check that the register test 2 task is still running. */
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if( ulLastRegTest2Value == ulRegTest2LoopCounter )
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{
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ulErrorFound |= ( 0x01UL << 5UL );
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}
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ulLastRegTest2Value = ulRegTest2LoopCounter;
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/* Toggle the check LED to give an indication of the system status. If
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the LED toggles every mainCHECK_TIMER_PERIOD_MS milliseconds then
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everything is ok. A faster toggle indicates an error. */
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vParTestToggleLED( mainCHECK_LED );
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/* Have any errors been latched in ulErrorFound? If so, shorten the
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period of the check timer to mainERROR_CHECK_TIMER_PERIOD_MS milliseconds.
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This will result in an increase in the rate at which mainCHECK_LED
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toggles. */
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if( ulErrorFound != pdFALSE )
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{
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if( lChangedTimerPeriodAlready == pdFALSE )
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{
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lChangedTimerPeriodAlready = pdTRUE;
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/* This call to xTimerChangePeriod() uses a zero block time.
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Functions called from inside of a timer callback function must
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*never* attempt to block. */
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xTimerChangePeriod( xTimer, ( mainERROR_CHECK_TIMER_PERIOD_MS ), mainDONT_BLOCK );
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}
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}
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}
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/*-----------------------------------------------------------*/
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static void prvFlashTimerCallback( xTimerHandle xTimer )
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{
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unsigned long ulLED;
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/* This callback function is assigned to three separate software timers.
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Each timer toggles a different LED. Obtain the number of the LED that
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this timer is toggling. */
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ulLED = ( unsigned long ) pvTimerGetTimerID( xTimer );
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/* Toggle the LED. */
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vParTestToggleLED( ulLED );
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}
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